Variable franka::kJointVelocityLimitsTolerance
Defined in File rate_limiting.h
Variable Documentation
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constexpr std::array<double, 7> franka::kJointVelocityLimitsTolerance{kLimitEps + kTolNumberPacketsLost * kDeltaT * kMaxJointAcceleration[0], kLimitEps + kTolNumberPacketsLost * kDeltaT * kMaxJointAcceleration[1], kLimitEps + kTolNumberPacketsLost * kDeltaT * kMaxJointAcceleration[2], kLimitEps + kTolNumberPacketsLost * kDeltaT * kMaxJointAcceleration[3], kLimitEps + kTolNumberPacketsLost * kDeltaT * kMaxJointAcceleration[4], kLimitEps + kTolNumberPacketsLost * kDeltaT * kMaxJointAcceleration[5], kLimitEps + kTolNumberPacketsLost * kDeltaT * kMaxJointAcceleration[6],}
Tolerance value for joint velocity limits to deal with numerical errors and data losses.